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Classes</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpatrol_executive_1_1_status.html">Status</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
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Functions</h2></td></tr>
<tr class="memitem:a19240022b9a69b09dd8759d33616e8d8"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepatrol_executive.html#a19240022b9a69b09dd8759d33616e8d8">waypointToPixelPoseStamped</a> (waypointObject)</td></tr>
<tr class="memdesc:a19240022b9a69b09dd8759d33616e8d8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Format Waypoint to Pixel PoseStamped.  <a href="#a19240022b9a69b09dd8759d33616e8d8">More...</a><br /></td></tr>
<tr class="separator:a19240022b9a69b09dd8759d33616e8d8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a291bff7df650d9f38b4c5b521bcf117b"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepatrol_executive.html#a291bff7df650d9f38b4c5b521bcf117b">pixelPoseStampedToRealPoseStamped</a> (pixelPoseStamped)</td></tr>
<tr class="memdesc:a291bff7df650d9f38b4c5b521bcf117b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Publish Pixel PoseStamped to map_image_generator to format it into Real PoseStamped.  <a href="#a291bff7df650d9f38b4c5b521bcf117b">More...</a><br /></td></tr>
<tr class="separator:a291bff7df650d9f38b4c5b521bcf117b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a97c5e5053d7b7eb75a5eb38cbe4cec6b"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepatrol_executive.html#a97c5e5053d7b7eb75a5eb38cbe4cec6b">realPoseStampedReceiverCallback</a> (realPoseStamped)</td></tr>
<tr class="memdesc:a97c5e5053d7b7eb75a5eb38cbe4cec6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Callback funtion receiving processed waypoint from map_image.  <a href="#a97c5e5053d7b7eb75a5eb38cbe4cec6b">More...</a><br /></td></tr>
<tr class="separator:a97c5e5053d7b7eb75a5eb38cbe4cec6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a053fc2b8c4c45559e05ef75b84f3b570"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepatrol_executive.html#a053fc2b8c4c45559e05ef75b84f3b570">startPatrolNavigation</a> ()</td></tr>
<tr class="memdesc:a053fc2b8c4c45559e05ef75b84f3b570"><td class="mdescLeft">&#160;</td><td class="mdescRight">This function starts sending the different waypoint that were converted in the list.  <a href="#a053fc2b8c4c45559e05ef75b84f3b570">More...</a><br /></td></tr>
<tr class="separator:a053fc2b8c4c45559e05ef75b84f3b570"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6b8c2b217b21f7b3a1dec024af3934b5"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepatrol_executive.html#a6b8c2b217b21f7b3a1dec024af3934b5">waypointsListReceiverCallback</a> (waypointsJsonStr)</td></tr>
<tr class="memdesc:a6b8c2b217b21f7b3a1dec024af3934b5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Callback funtion that handles the reception of new patrol plans.  <a href="#a6b8c2b217b21f7b3a1dec024af3934b5">More...</a><br /></td></tr>
<tr class="separator:a6b8c2b217b21f7b3a1dec024af3934b5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a116bc4ba9cdd430f99e6c9e1959157e0"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepatrol_executive.html#a116bc4ba9cdd430f99e6c9e1959157e0">interruptReceiverCallback</a> (interruptJsonStr)</td></tr>
<tr class="memdesc:a116bc4ba9cdd430f99e6c9e1959157e0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Interprets interruption requests.  <a href="#a116bc4ba9cdd430f99e6c9e1959157e0">More...</a><br /></td></tr>
<tr class="separator:a116bc4ba9cdd430f99e6c9e1959157e0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a506e16c528993117bb64ac4d84ade632"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepatrol_executive.html#a506e16c528993117bb64ac4d84ade632">getStatusString</a> (uInt8Status)</td></tr>
<tr class="memdesc:a506e16c528993117bb64ac4d84ade632"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns status as a string, used primarly for debugging purposes.  <a href="#a506e16c528993117bb64ac4d84ade632">More...</a><br /></td></tr>
<tr class="separator:a506e16c528993117bb64ac4d84ade632"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a52e09ea6ac1c05860facef17d809c3e5"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepatrol_executive.html#a52e09ea6ac1c05860facef17d809c3e5">publishPatrolFeedBack</a> (<a class="el" href="namespacepatrol_executive.html#afc3900570327f4100816af6d160d9528">patrolId</a>, status, acheivedWaypointCount, plannedWaypointCount)</td></tr>
<tr class="memdesc:a52e09ea6ac1c05860facef17d809c3e5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Publishes the advancement of a patrol.  <a href="#a52e09ea6ac1c05860facef17d809c3e5">More...</a><br /></td></tr>
<tr class="separator:a52e09ea6ac1c05860facef17d809c3e5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2748fed61621678f4ea0b3d732482ae9"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepatrol_executive.html#a2748fed61621678f4ea0b3d732482ae9">sendGoalDoneCallback</a> (terminalState, result)</td></tr>
<tr class="memdesc:a2748fed61621678f4ea0b3d732482ae9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Callback function called when an action sent to move_base is done.  <a href="#a2748fed61621678f4ea0b3d732482ae9">More...</a><br /></td></tr>
<tr class="separator:a2748fed61621678f4ea0b3d732482ae9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1fa0e341e435a163ce0efbeda4cb08b3"><td class="memItemLeft" align="right" valign="top">def&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepatrol_executive.html#a1fa0e341e435a163ce0efbeda4cb08b3">patrolExecutive</a> ()</td></tr>
<tr class="memdesc:a1fa0e341e435a163ce0efbeda4cb08b3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Main function starting the Patrol Executive Node.  <a href="#a1fa0e341e435a163ce0efbeda4cb08b3">More...</a><br /></td></tr>
<tr class="separator:a1fa0e341e435a163ce0efbeda4cb08b3"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="var-members"></a>
Variables</h2></td></tr>
<tr class="memitem:a180a159337dbeb59ac203d3ac937f5f6"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepatrol_executive.html#a180a159337dbeb59ac203d3ac937f5f6">PIXEL_POSESTAMPED_INDEX</a> = 1</td></tr>
<tr class="separator:a180a159337dbeb59ac203d3ac937f5f6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a75b5593940d99021aeee363eadc8f039"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepatrol_executive.html#a75b5593940d99021aeee363eadc8f039">REAL_POSESTAMPED_INDEX</a> = 2</td></tr>
<tr class="separator:a75b5593940d99021aeee363eadc8f039"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6c84d05f959175af3eb8b11c81d71a99"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepatrol_executive.html#a6c84d05f959175af3eb8b11c81d71a99">actionClient</a> = actionlib.SimpleActionClient('move_base', MoveBaseAction)</td></tr>
<tr class="separator:a6c84d05f959175af3eb8b11c81d71a99"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac5012d6c6e1f67b98385f4ffab8b677f"><td class="memItemLeft" align="right" valign="top">list&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepatrol_executive.html#ac5012d6c6e1f67b98385f4ffab8b677f">waypointsPatrolList</a> = []</td></tr>
<tr class="separator:ac5012d6c6e1f67b98385f4ffab8b677f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8ad7674bddfa1ae554aba971d3fc60ca"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepatrol_executive.html#a8ad7674bddfa1ae554aba971d3fc60ca">currentWaypointIndex</a> = 0</td></tr>
<tr class="separator:a8ad7674bddfa1ae554aba971d3fc60ca"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afffb19bc289301a6eb58e0edca10391e"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepatrol_executive.html#afffb19bc289301a6eb58e0edca10391e">isLooped</a> = False</td></tr>
<tr class="separator:afffb19bc289301a6eb58e0edca10391e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afc3900570327f4100816af6d160d9528"><td class="memItemLeft" align="right" valign="top">string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepatrol_executive.html#afc3900570327f4100816af6d160d9528">patrolId</a> = &quot;&quot;</td></tr>
<tr class="separator:afc3900570327f4100816af6d160d9528"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0127a20e1aa0b2e6107e2cf643b30068"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepatrol_executive.html#a0127a20e1aa0b2e6107e2cf643b30068">toMapImageGenerator</a> = rospy.Publisher(&quot;toMapImageGenerator&quot;, PoseStamped, queue_size=20)</td></tr>
<tr class="separator:a0127a20e1aa0b2e6107e2cf643b30068"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a561e58b7fc32f992655a0d0f66393629"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacepatrol_executive.html#a561e58b7fc32f992655a0d0f66393629">toElectron</a> = rospy.Publisher(&quot;toElectron&quot;, String, queue_size=20)</td></tr>
<tr class="separator:a561e58b7fc32f992655a0d0f66393629"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<h2 class="groupheader">Function Documentation</h2>
<a class="anchor" id="a506e16c528993117bb64ac4d84ade632"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">def patrolExecutive.getStatusString </td>
          <td>(</td>
          <td class="paramtype">&#160;</td>
          <td class="paramname"><em>uInt8Status</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Returns status as a string, used primarly for debugging purposes. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">uInt8Status</td><td>move_base status code </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>String representation of the status </dd></dl>

</div>
</div>
<a class="anchor" id="a116bc4ba9cdd430f99e6c9e1959157e0"></a>
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        <tr>
          <td class="memname">def patrolExecutive.interruptReceiverCallback </td>
          <td>(</td>
          <td class="paramtype">&#160;</td>
          <td class="paramname"><em>interruptJsonStr</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Interprets interruption requests. </p>
<p>Will stop patrol and send confirmation if patrol plan is stopped. </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">interruptJsonStr</td><td>The ROS message containing the JSON string with the interrupt message. </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a class="anchor" id="a1fa0e341e435a163ce0efbeda4cb08b3"></a>
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<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">def patrolExecutive.patrolExecutive </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Main function starting the Patrol Executive Node. </p>
<p>Subcription to three topics are made : fromMapimageGenerator, fromElectronWaypoints, fromElectronInterrupt. </p>

</div>
</div>
<a class="anchor" id="a291bff7df650d9f38b4c5b521bcf117b"></a>
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        <tr>
          <td class="memname">def patrolExecutive.pixelPoseStampedToRealPoseStamped </td>
          <td>(</td>
          <td class="paramtype">&#160;</td>
          <td class="paramname"><em>pixelPoseStamped</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Publish Pixel PoseStamped to map_image_generator to format it into Real PoseStamped. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">pixelPoseStamped</td><td>The waypoint relative to the screen input </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a class="anchor" id="a52e09ea6ac1c05860facef17d809c3e5"></a>
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<div class="memproto">
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        <tr>
          <td class="memname">def patrolExecutive.publishPatrolFeedBack </td>
          <td>(</td>
          <td class="paramtype">&#160;</td>
          <td class="paramname"><em>patrolId</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">&#160;</td>
          <td class="paramname"><em>status</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">&#160;</td>
          <td class="paramname"><em>acheivedWaypointCount</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">&#160;</td>
          <td class="paramname"><em>plannedWaypointCount</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Publishes the advancement of a patrol. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">patrolId</td><td>The unique id of the patrol in string representation </td></tr>
    <tr><td class="paramname">status</td><td>String representation of the event to report </td></tr>
    <tr><td class="paramname">acheivedWaypointCount</td><td>Number of waypoints that have succesfully been reached </td></tr>
    <tr><td class="paramname">plannedWaypointCount</td><td>Number of waypoints in the current patrol </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a class="anchor" id="a97c5e5053d7b7eb75a5eb38cbe4cec6b"></a>
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          <td class="memname">def patrolExecutive.realPoseStampedReceiverCallback </td>
          <td>(</td>
          <td class="paramtype">&#160;</td>
          <td class="paramname"><em>realPoseStamped</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Callback funtion receiving processed waypoint from map_image. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">realPoseStamped</td><td>The processed waypoint in dimesions relative to RTAB-MAP </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a class="anchor" id="a2748fed61621678f4ea0b3d732482ae9"></a>
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          <td class="memname">def patrolExecutive.sendGoalDoneCallback </td>
          <td>(</td>
          <td class="paramtype">&#160;</td>
          <td class="paramname"><em>terminalState</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">&#160;</td>
          <td class="paramname"><em>result</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Callback function called when an action sent to move_base is done. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">terminalState</td><td>The state of the action (ie: SUCCEEDED / ABORTED) </td></tr>
    <tr><td class="paramname">result</td><td></td></tr>
  </table>
  </dd>
</dl>

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          <td class="memname">def patrolExecutive.startPatrolNavigation </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
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<p>This function starts sending the different waypoint that were converted in the list. </p>

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          <td class="memname">def patrolExecutive.waypointsListReceiverCallback </td>
          <td>(</td>
          <td class="paramtype">&#160;</td>
          <td class="paramname"><em>waypointsJsonStr</em></td><td>)</td>
          <td></td>
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<p>Callback funtion that handles the reception of new patrol plans. </p>
<p>This function will decode incoming JSON message and convert the waypoints for them to be sent to move_base sequentially. </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">waypointsJsonStr</td><td>The patrol plan in JSON representation </td></tr>
  </table>
  </dd>
</dl>

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          <td class="memname">def patrolExecutive.waypointToPixelPoseStamped </td>
          <td>(</td>
          <td class="paramtype">&#160;</td>
          <td class="paramname"><em>waypointObject</em></td><td>)</td>
          <td></td>
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<p>Format Waypoint to Pixel PoseStamped. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">waypointObject</td><td>The waypoint in dictionnary form from the JSON object </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>PoseStamped representation of the waypoint </dd></dl>

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<h2 class="groupheader">Variable Documentation</h2>
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          <td class="memname">patrolExecutive.actionClient = actionlib.SimpleActionClient('move_base', MoveBaseAction)</td>
        </tr>
      </table>
</div><div class="memdoc">

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          <td class="memname">int patrolExecutive.currentWaypointIndex = 0</td>
        </tr>
      </table>
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          <td class="memname">bool patrolExecutive.isLooped = False</td>
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          <td class="memname">string patrolExecutive.patrolId = &quot;&quot;</td>
        </tr>
      </table>
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          <td class="memname">int patrolExecutive.PIXEL_POSESTAMPED_INDEX = 1</td>
        </tr>
      </table>
</div><div class="memdoc">

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          <td class="memname">int patrolExecutive.REAL_POSESTAMPED_INDEX = 2</td>
        </tr>
      </table>
</div><div class="memdoc">

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          <td class="memname">patrolExecutive.toElectron = rospy.Publisher(&quot;toElectron&quot;, String, queue_size=20)</td>
        </tr>
      </table>
</div><div class="memdoc">

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          <td class="memname">patrolExecutive.toMapImageGenerator = rospy.Publisher(&quot;toMapImageGenerator&quot;, PoseStamped, queue_size=20)</td>
        </tr>
      </table>
</div><div class="memdoc">

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          <td class="memname">list patrolExecutive.waypointsPatrolList = []</td>
        </tr>
      </table>
</div><div class="memdoc">

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